Single-drive double-guide hanging rail inspection robot suitable for curved rail operation

Abstract

The invention belongs to the technical field of robots, and discloses a single-drive double-guide hanging rail inspection robot suitable for curved rail operation, the single-drive double-guide hanging rail inspection robot comprises a base, a hanging bracket, a mounting bracket, a driving assembly, a limiting elastic piece and a plurality of guide assemblies, the hanging bracket is rotatably connected to the base; the mounting bracket is movably connected to the suspension bracket; the driving assembly is rotationally connected with the suspension bracket and the mounting bracket; the limiting elastic piece is used for pushing the driving wheel of the driving assembly to abut against the track; the guide assembly is in sliding fit with the rail. When the inspection robot runs, the friction force between the driving wheels and the tracks can be kept uniform, the overall energy consumption is effectively reduced, the driving efficiency is improved, meanwhile, the abrasion of the driving wheels can be reduced, the service life of the driving wheels is effectively prolonged, the inspection robot can smoothly pass through the tracks with various curvatures, and the service life of the inspection robot is prolonged. And moreover, the overall composition structure is simple, and the manufacturing cost and difficulty of the inspection robot are effectively reduced.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a single-drive dual-guide rail-hanging inspection robot suitable for running on curved tracks. Background Art

[0002] Inspection robots are devices used in the industrial field to inspect material conveying structures such as conveyor belts. They can replace manual labor to carry out long-distance climbing inspections and can effectively reduce the labor intensity of staff.

[0003] In the prior art, the inspection robot is suspended on a track and includes a frame. The driving wheel is pressed against the track by spring pressure, and then the driving wheel is rotated by a driving member, so that the robot slides on the track. During the sliding process, the robot can perform corresponding inspection operations.

[0004] However, since the track is not straight, when the inspection robot passes through a curved part, the spring is deformed due to the change in force direction, which in turn changes the extrusion pressure between the drive wheel and the track. Therefore, in order to ensure that the extrusion pressure between the drive wheel and the track meets the operating requirements, the spring needs to be preset with a larger compression amount. As a result, when running on a straight track, the extrusion pressure between the drive wheel and the track is larger, the energy consumption is larger, the driving efficiency is lower, the drive wheel is severely worn, and the inspection robot finds it difficult to pass through tracks with a large curvature change. Summary of the invention

[0005] The purpose of the present invention is to provide a single-drive dual-guide rail-hanging inspection robot suitable for running on curved tracks, which solves the problem in the prior art that when the inspection robot is running, in order to ensure that it can run smoothly on the curved part of the track, the pressure between the inspection robot and the driving wheel is relatively large, resulting in high overall energy consumption, low driving efficiency, serious wear of the driving wheels, and the inability to pass smoothly on tracks with a large curvature change.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] A single-drive dual-guide rail inspection robot suitable for running on a curved track, comprising:

[0008] Base;

[0009] A suspension bracket, rotatably connected to the base along the width direction of the track;

[0010] A mounting bracket movably connected to the suspension bracket;

[0011] A driving assembly, rotatably connected to the suspension bracket and the mounting bracket;

[0012] A limiting elastic member, one end of which is connected to the driving assembly and the other end of which is connected to the mounting bracket, so as to push the driving wheel of the driving assembly to abut against the track;

[0013] A plurality of guide components have one end rotatably connected to the base and the other end suspended on the track and slidably matched with the track.

[0014] Optionally, the suspension bracket comprises:

[0015] A suspension plate, wherein the suspension plate is rotatably connected to the base via a rotating shaft, and the axial direction of the rotating shaft is parallel to the length direction of the track;

[0016] The suspension elastic member has one end abutting against the suspension plate and the other end abutting against the base.

[0017] Optionally, a plurality of suspension elastic members are arranged at intervals around the circumference of the suspension plate.

[0018] Optionally, the mounting bracket includes:

[0019] a first mounting rod, rotatably connected to the suspension bracket;

[0020] A connecting shaft, arranged on the first mounting rod and connected to the limiting elastic member;

[0021] The second mounting rod has one end rotatably connected to the connecting shaft and the other end rotatably connected to the driving assembly.

[0022] Optionally, the suspension bracket comprises:

[0023] Suspension board;

[0024] A first connecting rod, disposed on the suspension plate, one end of the driving assembly is rotatably connected to the first connecting rod, and the other end is rotatably connected to the mounting bracket;

[0025] A second connecting rod is arranged on the suspension plate and is arranged opposite to the first connecting rod. The second connecting rod is rotatably connected to the mounting bracket.

[0026] Optionally, the driving assembly comprises:

[0027] A driving bracket, one end of which is rotatably connected to the suspension bracket, and the other end of which is rotatably connected to the mounting bracket;

[0028] A driving member, disposed on the driving bracket;

[0029] The driving wheel is rotatably connected to the driving bracket and connected to the output end of the driving member, and the driving wheel abuts against the track.

[0030] Optionally, the driving bracket includes:

[0031] a first mounting plate, the driving member being fixed to the first mounting plate;

[0032] The second mounting plate is arranged opposite to the first mounting plate, and the driving wheel is rotatably connected between the first mounting plate and the second mounting plate.

[0033] Optionally, a plurality of the limiting elastic members are distributed at intervals.

[0034] Optionally, it also includes:

[0035] An encoder is arranged on one of the guide components.

[0036] Optionally, the guide assembly comprises:

[0037] The guide frame is rotatably connected to the base, and a plurality of side rollers and an upper roller are rotatably connected to the guide frame, and both the side rollers and the upper rollers can be slidably matched with the track.

[0038] Beneficial effects of the present invention:

[0039] By setting a guide component suspended on the track on the base, the entire inspection robot is suspended on the track, and during the installation process, the limit elastic part is deformed by the movable mounting bracket, and the drive component rotates close to the suspension bracket. When the driving wheel corresponds to the track, the mounting bracket is loosened, the limit elastic part is reset to drive the mounting bracket to reset, and the mounting bracket pushes the drive component close to the track so that the driving wheel is pressed against the track. The driving component runs and drives the driving wheel to rotate, and the friction between the driving wheel and the track can drive the entire inspection robot to run on the track. When passing through the curved section of the track, due to the change in the force direction of the driving wheel, the suspension bracket can be driven by the driving component to rotate to a certain extent relative to the base, and the guide component will also produce a certain degree of self-rotation so that the driving wheel can adapt to the track of the curved section, thereby ensuring that the pressing force between the driving wheel and the track will not change significantly, and the elastic deformation amplitude of the limit elastic part will not change significantly. In this way, when the inspection robot is in operation, the suspension bracket and the base are connected in a rotational manner along the width of the track, and the guide assembly can rotate, so that when passing through the curved section of the track, the suspension bracket and the guide assembly can bend to a certain extent, thereby ensuring that the deformation amplitude of the limit elastic member will not change significantly, and then the extrusion force between the drive wheel and the track will not change significantly in the straight section and the curved section of the track, and it can also ensure that the friction between the drive wheel and the track remains uniform, thereby effectively reducing the overall energy consumption and improving the driving efficiency. At the same time, it can also reduce the wear of the drive wheel to effectively extend the service life of the drive wheel. Moreover, since the suspension bracket and the guide assembly of the inspection robot can bend as the curvature of the track changes, the inspection robot can smoothly pass through tracks of various curvatures, which improves the adaptability of the inspection robot to tracks of different curvatures. In addition, each structure is integrated and arranged on the base, and the overall composition structure is simple, which effectively reduces the manufacturing cost and difficulty of the inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the structure of a single-drive dual-guide rail-hanging inspection robot suitable for running on a curved track when it is hung on the track in an embodiment of the present invention;

[0041] Figure 2 2 is a schematic diagram of the structure of a single-drive dual-guide rail-hanging inspection robot suitable for running on a curved track when it is suspended over a curved section of the track in an embodiment of the present invention;

[0042] Figure 3 1 is a front view of a single-drive dual-guide rail-hanging inspection robot suitable for running on a curved track according to an embodiment of the present invention;

[0043] Figure 4 1 is a top view of a single-drive dual-guide rail-hanging inspection robot suitable for running on a curved track according to an embodiment of the present invention;

[0044] Figure 5 It is a side view of a single-drive dual-guide rail-hanging inspection robot suitable for running on a curved track in an embodiment of the present invention;

[0045] Figure 6 It is a structural schematic diagram of the suspension bracket of the single-drive dual-guide rail-hanging inspection robot suitable for running on a curved track when rotating in an embodiment of the present invention;

[0046] Figure 7 It is a side view of a suspension bracket of a single-drive dual-guide rail-hanging inspection robot suitable for running on a curved track in an embodiment of the present invention;

[0047] Figure 8 It is a top view of a suspension bracket of a single-drive dual-guide rail-hanging inspection robot suitable for running on a curved track in an embodiment of the present invention;

[0048] Fig. 9 It is a front view of a suspension bracket of a single-drive dual-guide rail-hanging inspection robot suitable for running on a curved track in an embodiment of the present invention;

[0049] Fig.10 It is a three-dimensional diagram of a suspension bracket of a single-drive dual-guide rail-hanging inspection robot suitable for running on a curved track in an embodiment of the present invention;

[0050] Fig.11 It is a side view of a drive assembly of a single-drive dual-guide rail-hanging inspection robot suitable for running on a curved track in an embodiment of the present invention;

[0051] Fig.12 It is a front view of an encoder of a single-drive dual-guide rail-hanging inspection robot suitable for running on a curved track in an embodiment of the present invention;

[0052] Fig.13 It is a side view of an encoder of a single-drive dual-guide rail inspection robot suitable for running on a curved track in an embodiment of the present invention;

[0053] Fig.14 It is a front view of a guide assembly of a single-drive dual-guide rail-hanging inspection robot suitable for running on a curved track in an embodiment of the present invention;

[0054] Fig.15 It is a side view of a guide assembly of a single-drive dual-guide rail-hanging inspection robot suitable for running on a curved track in an embodiment of the present invention;

[0055] Fig.16 It is a top view of the guide assembly of the single-drive dual-guide rail-hanging inspection robot suitable for running on a curved track in an embodiment of the present invention;

[0056] Fig.17It is a front view of the side roller of the single-drive dual-guide rail-hanging inspection robot suitable for running on a curved track in an embodiment of the present invention;

[0057] Fig.18 It is a top view of the side rollers of the single-drive dual-guide rail-hanging inspection robot suitable for running on a curved track in an embodiment of the present invention.

[0058] In the figure:

[0059] 1. Base; 11. Fixing plate;

[0060] 2. Suspension bracket; 21. Suspension plate; 22. Suspension elastic member; 23. Rotating shaft; 24. First connecting rod; 25. Second connecting rod;

[0061] 3. Mounting bracket; 31. First mounting rod; 32. Connecting shaft; 33. Second mounting rod;

[0062] 4. driving assembly; 41. driving member; 42. driving wheel; 43. first mounting plate; 44. second mounting plate; 45. rotating rod;

[0063] 5. Limiting elastic parts;

[0064] 6. Guide assembly; 61. Side roller; 611. Side wheel; 612. Wheel seat; 613. Wheel axle; 614. Movable pin; 615. Compression spring; 62. Upper roller; 63. Guide seat; 64. Guide plate; 65. Fixed shaft;

[0065] 7. Track;

[0066] 8. Encoder; 81. Connecting arm. DETAILED DESCRIPTION

[0067] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0068] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0069] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0070] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0071] The embodiments of the present application disclose a single-drive dual-guide rail-hanging inspection robot suitable for operation on curved tracks (hereinafter referred to as “inspection robot”).

[0072] Reference Figures 1 to 5 The inspection robot comprises a base 1, a suspension bracket 2, a mounting bracket 3, a driving assembly 4, a limiting elastic member 5 and a plurality of guide assemblies 6. The suspension bracket 2 is rotatably connected to the base 1 along the width direction of the track 7; the mounting bracket 3 is movably connected to the suspension bracket 2; the driving assembly 4 is rotatably connected to the suspension bracket 2 and the mounting bracket 3; one end of the limiting elastic member 5 is connected to the driving assembly 4 and the other end is connected to the mounting bracket 3 to push the driving wheel 42 of the driving assembly 4 to abut against the track 7; one end of the guide assembly 6 is rotatably connected to the base 1, and the other end is suspended from the track 7 and slidably cooperates with the track 7.

[0073] Specifically, the base 1 is in the shape of a flat plate, and a suspension bracket 2 is rotatably connected to the top wall thereof, and the rotation direction is the width direction of the track 7. Therefore, when passing through the curved part of the track 7, the suspension bracket 2 can rotate relative to the width direction of the track 7. The suspension bracket 2 is provided with a mounting bracket 3 and a driving component 4, one end of the driving component 4 is rotatably connected to the suspension bracket 2, and the other end is rotatably connected to the mounting bracket 3, and the mounting bracket 3 can move relative to the suspension bracket 2, and the moving direction is the direction of approaching or moving away from the suspension bracket 2. A limiting elastic member 5 is provided between the driving component 4 and the mounting bracket 3 to limit the range of movement of the mounting bracket 3, and ensure that the mounting bracket 3 pushes the driving wheel 42 of the driving component 4 to abut against the track 7.

[0074] A plurality of guide assemblies 6 are distributed at intervals on the base 1, and the plurality of guide assemblies 6 are distributed along the length direction of the track 7, and the suspension bracket 2 is located between the plurality of guide assemblies 6, or in front of or behind the plurality of guide assemblies 6, etc., which is not limited in the present application. In the present embodiment, two guide assemblies 6 are provided, and the suspension bracket 2 is located between the two guide assemblies 6. Each guide assembly 6 can be rotatably connected to the base 1 through a bearing or other structure, so that the guide assembly 6 can rotate relative to the base 1.

[0075] By setting a guide assembly 6 suspended on the track 7 on the base 1, the entire inspection robot is suspended on the track 7, and during the installation process, the limit elastic member 5 is deformed by the movable mounting bracket 3, and the driving assembly 4 rotates close to the suspension bracket 2. When the driving wheel 42 corresponds to the track 7, the mounting bracket 3 is released, the limit elastic member 5 is reset to drive the mounting bracket 3 to reset, and the mounting bracket 3 pushes the driving assembly 4 close to the track 7, so that the driving wheel 42 is pressed against the track 7, and the driving assembly 4 is operated to drive the driving wheel 42 to rotate, and the friction between the driving wheel 42 and the track 7 can drive the entire inspection robot to run on the track 7. When passing through the curved section of the track 7, due to the change in the force direction of the driving wheel 42, the driving assembly 4 can drive the suspension bracket 2 to rotate to a certain extent relative to the base 1, and the guide assembly 6 will also produce a certain degree of self-rotation, so that the driving wheel 42 can adapt to the curved section of the track 7, thereby ensuring that the pressing force between the driving wheel 42 and the track 7 will not change significantly, and the elastic deformation amplitude of the limit elastic member 5 will not change significantly. In this way, when the inspection robot is in operation, the suspension bracket 2 and the base 1 are connected in rotation along the width direction of the track 7, and the guide assembly 6 can rotate, so that when passing through the curved section of the track 7, the suspension bracket 2 and the guide assembly 6 can bend to a certain extent, thereby ensuring that the deformation amplitude of the limit elastic member 5 will not change significantly, and then the extrusion force between the drive wheel 42 and the track 7 will not change significantly in the straight section and the curved section of the track 7, and it can also ensure that the friction between the drive wheel 42 and the track 7 remains uniform, thereby effectively reducing the overall energy consumption and improving the driving efficiency. At the same time, it can also reduce the wear of the drive wheel 42, so as to effectively extend the service life of the drive wheel 42. Moreover, since the suspension bracket 2 and the guide assembly 6 of the inspection robot can bend with the change of the curvature of the track 7, the inspection robot can smoothly pass through tracks 7 of various curvatures, which improves the adaptability of the inspection robot to tracks 7 of different curvatures, and each structure is integrated and arranged on the base 1, the overall composition structure is simple, and the manufacturing cost and difficulty of the inspection robot are effectively reduced.

[0076] Reference Figures 6 to 8Optionally, the suspension bracket 2 includes a suspension plate 21 and a suspension elastic member 22. The suspension plate 21 is rotatably connected to the base 1 via a rotating shaft 23, and the axial direction of the rotating shaft 23 is parallel to the length direction of the track 7; one end of the suspension elastic member 22 abuts against the suspension plate 21, and the other end abuts against the base 1.

[0077] Specifically, a fixing plate 11 can be fixedly connected to the top wall of the base 1 by bolts, a connecting ear is provided on the fixing plate 11, a connecting portion is correspondingly provided on the bottom wall of the suspension plate 21, and a rotating shaft 23 is passed through the connecting portion and is rotatably connected to the connecting ear. The rotating shaft 23 is located in the middle of the width direction of the suspension plate 21 and extends along the length direction of the track 7, and only one rotating shaft 23 can be provided, or multiple rotating shafts 23 can be provided at intervals. In this embodiment, a rotating shaft 23 is provided at both ends of the suspension plate 21 along the length direction of the track 7, so that the suspension plate 21 can rotate along the width direction of the track 7.

[0078] A suspension elastic member 22 is provided between the suspension plate 21 and the fixed plate 11, and the suspension elastic member 22 is deformed in the vertical direction. A plurality of suspension elastic members 22 may be provided at intervals around the circumference of the suspension plate 21. In this embodiment, the suspension elastic member 22 is a spring, and the suspension plate 21 is rectangular. A suspension elastic member 22 is provided at each of the four corners of the suspension plate 21 to limit the rotation of the suspension plate 21.

[0079] When the suspension bracket 2 passes through the curved section of the track 7, the suspension plate 21 can rotate in the width direction of the track 7 according to the curvature of the track 7, and the suspension plate 21 will squeeze the suspension elastic member 22 on one side and stretch the suspension elastic member 22 on the other side when rotating to ensure that the suspension plate 21 is uniformly stressed as a whole, and when the suspension bracket 2 is in the straight section of the track 7, the suspension plate 21 will automatically reset under the action of multiple suspension elastic members 22. During the rotation of the suspension plate 21, the drive assembly 4 will rotate synchronously, so that the drive wheel 42 can adapt to the curved and straight sections of the track 7, thereby ensuring that the inspection robot can run smoothly on the irregular track 7 and improving the reliability of the operation.

[0080] Reference Figures 8 to 11 Optionally, the mounting bracket 3 includes a first mounting rod 31, a connecting shaft 32 and a second mounting rod 33. The first mounting rod 31 is rotatably connected to the suspension bracket 2; the connecting shaft 32 is disposed on the first mounting rod 31 and connected to the limiting elastic member 5; one end of the second mounting rod 33 is rotatably connected to the connecting shaft 32, and the other end is rotatably connected to the driving assembly 4.

[0081] Specifically, two first mounting rods 31 are relatively arranged, and the lower ends thereof are rotatably connected to the suspension plate 21 through a connecting pin, and the upper ends thereof are provided with a connecting shaft 32. Two second mounting rods 33 are also relatively arranged, and the lower ends of the second mounting rods 33 are rotatably connected to the connecting shaft 32, and the upper ends thereof are rotatably connected to the driving assembly 4 through a connecting pin. One end of the limiting elastic member 5 is connected to the driving assembly 4, and the other end is fixedly connected to the connecting shaft 32. Multiple limiting elastic members 5 may also be provided. In the present embodiment, the limiting elastic member 5 is a spring, and two are spaced apart and distributed along the axial direction of the connecting shaft 32.

[0082] When installing the inspection robot, the first mounting rod 31 and the second mounting rod 33 are rotated so that they are partially folded, the connecting shaft 32 moves away from the driving component 4 and pulls the limiting elastic member 5 to deform, the driving component 4 will rotate downward synchronously, thereby causing the driving wheel 42 to move downward, and when the driving wheel 42 corresponds to the track 7, the first mounting rod 31 and the second mounting rod 33 are released, the limiting elastic member 5 is reset, thereby pulling the connecting shaft 32 to reset, and the connecting shaft 32 pushes the first mounting rod 31 and the second mounting rod 33 to gradually unfold, thereby causing the driving component 4 to rotate toward the side close to the track 7, so that the driving wheel 42 is pressed against the track 7.

[0083] Optionally, the suspension bracket 2 includes a first connecting rod 24 and a second connecting rod 25. The first connecting rod 24 is arranged on the suspension plate 21, one end of the driving assembly 4 is rotatably connected to the first connecting rod 24, and the other end is rotatably connected to the mounting bracket 3; the second connecting rod 25 is arranged on the suspension plate 21 and is arranged opposite to the first connecting rod 24, and the second connecting rod 25 is rotatably connected to the mounting bracket 3.

[0084] Specifically, the first connecting rod 24 and the second connecting rod 25 are both fixed to the top wall of the suspension plate 21 by bolts, and two first connecting rods 24 and second connecting rods 25 are arranged opposite to each other, and the two second connecting rods 25 correspond to the two first mounting rods 31 one by one, and the second connecting rod 25 and the first mounting rod 31 are rotatably connected by pins. The height of the second connecting rod 25 is smaller than that of the first connecting rod 24.

[0085] By setting the first link 24 and the second link 25, a space for installing the drive component 4 and the mounting bracket 3 can be formed on the suspension plate 21, and the height of the second link 25 is set to be smaller than the first link 24, so that after the mounting bracket 3 is installed on the second link 25, its height will not be much higher than the first link 24, so as to ensure that the posture of the drive component 4 during installation meets the corresponding requirements.

[0086] Optionally, the driving assembly 4 includes a driving bracket, a driving member 41 and a driving wheel 42. One end of the driving bracket is rotatably connected to the suspension bracket 2, and the other end is rotatably connected to the mounting bracket 3; the driving member 41 is disposed on the driving bracket; the driving wheel 42 is rotatably connected to the driving bracket and connected to the output end of the driving member 41, and the driving wheel 42 abuts against the track 7.

[0087] Specifically, the driving bracket is in the shape of a long strip, one end of which is rotatably connected to the two first connecting rods 24, and the other end is rotatably connected to the second mounting rod 33. The driving member 41 adopts a motor, which is fixed on the driving bracket, and the driving wheel 42 is rotatably connected to the inside of the driving bracket, and the top end of the driving wheel 42 extends out of the driving bracket to form abutment with the bottom wall of the track 7.

[0088] Optionally, the driving bracket includes a first mounting plate 43 and a second mounting plate 44. The driving member 41 is fixed to the first mounting plate 43; the second mounting plate 44 is arranged opposite to the first mounting plate 43, and the driving wheel 42 is rotatably connected between the first mounting plate 43 and the second mounting plate 44.

[0089] Specifically, one end of the first mounting plate 43 is rotatably connected to the first connecting rod 24, and the other end is rotatably connected to the second mounting rod 33, while one end of the second mounting plate 44 is rotatably connected to another first connecting rod 24, and the other end of the second mounting plate 44 is rotatably connected to another second mounting rod 33. The middle part of the first mounting plate 43 is bent downward, and a plurality of bolt holes are provided in the bent part. The driving member 41 is located in the bent part and fixed by inserting bolts in the bolt holes. A rotating rod 45 is provided at the bent part of the first mounting plate 43, and the rotating rod 45 is also rotatably connected to the second mounting plate 44, and the limiting elastic member 5 is connected to the rotating rod 45. The driving wheel 42 is rotatably connected to the side of the second mounting plate 44 close to the second mounting plate 44, and the axis of the driving wheel 42 corresponds to the output end of the driving member 41.

[0090] When the inspection robot is installed, the mounting bracket 3 directly drives the first mounting plate 43 and the second mounting plate 44 to rotate when it is active, thereby driving the driving member 41 and the driving wheel 42 to move synchronously. When the installation is completed, the mounting bracket 3 is reset, thereby pushing the first mounting plate 43 and the second mounting plate 44 to reset, and the driving member 41 and the driving wheel 42 can be smoothly driven to approach the track 7, and the driving wheel 42 can be pressed against the bottom wall of the track 7.

[0091] Reference Fig.12 and Fig.13 Optionally, the inspection robot includes an encoder 8. The encoder 8 is arranged on one of the guide components 6.

[0092] Specifically, a connecting arm 81 is fixed on one of the guide components 6, and the fixing method can be bolt connection, welding, bonding or clamping, etc. The connecting arm 81 can be bent, and an encoder 8 is set at one end of the connecting arm 81 away from the guide component 6. The encoder 8 can detect the running distance of the inspection robot in real time.

[0093] Reference Figures 14 to 18 Optionally, the guide assembly 6 includes a guide frame. The guide frame is rotatably connected to the base 1, and a plurality of side rollers 61 and an upper roller 62 are rotatably connected to the guide frame, and the side rollers 61 and the upper rollers 62 can both slide and cooperate with the track 7.

[0094] Specifically, the guide frame includes a guide seat 63 and two guide plates 64 arranged opposite to each other. The guide seat 63 is rotatably connected to the base 1 through a bearing, and the guide plates 64 are fixed to the top wall of the guide seat 63. A plurality of fixed shafts 65 are also arranged between the two guide plates 64 to fix the two guide plates 64 together, so as to form a space for the track 7 to pass through between the two guide plates 64. A plurality of side rollers 61 and a plurality of upper rollers 62 are arranged on the upper side of the guide plates 64, wherein the plurality of upper rollers 62 and the plurality of side rollers 61 are distributed on the opposite sides of the two guide plates 64, and the side rollers 61 can abut against the side walls of the track 7, while the upper rollers 62 abut against the top wall of the track 7. In this embodiment, four side rollers 61 are arranged, and two upper rollers 62 are arranged.

[0095] The side roller 61 includes a side wheel 611, a wheel seat 612, a wheel axle 613, a plurality of movable pins 614 and a compression spring 615. The wheel seat 612 is fixed on the guide plate 64, the wheel axle 613 is inserted through the wheel seat 612 and extends along the height direction of the track 7, the side wheel 611 is sleeved on the wheel axle 613 and located in the wheel seat 612, and the position of the side wheel 611 is limited by a retaining spring on both sides of the wheel axle 613. Through holes are opened at both ends of the wheel axle 613, the movable pins 614 are inserted through the through holes, and the compression spring 615 is sleeved on the movable pins 614.

[0096] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A single-drive dual-guide rail inspection robot suitable for running on curved tracks, characterized in that: include: Base (1); A suspension bracket (2) is rotatably connected to the base (1) along the width direction of the track (7); A mounting bracket (3) movably connected to the suspension bracket (2); A driving assembly (4) rotatably connected to the suspension bracket (2) and the mounting bracket (3); A limiting elastic member (5), one end of which is connected to the driving assembly (4) and the other end of which is connected to the mounting bracket (3), so as to push the driving wheel (42) of the driving assembly (4) to abut against the track (7); A plurality of guide components (6) have one end rotatably connected to the base (1) and the other end suspended on a track (7) and slidably matched with the track (7).

2. The single-drive dual-guide rail-hanging inspection robot suitable for curved track operation according to claim 1, characterized in that: The suspension bracket (2) comprises: A suspension plate (21), wherein the suspension plate (21) is rotatably connected to the base (1) via a rotating shaft (23), and the axial direction of the rotating shaft (23) is parallel to the length direction of the track (7); A suspension elastic member (22) has one end abutting against the suspension plate (21) and the other end abutting against the base (1).

3. The single-drive dual-guide rail inspection robot suitable for curved track operation according to claim 2, characterized in that: A plurality of the suspension elastic members (22) are arranged at intervals in the circumferential direction of the suspension plate (21).

4. The single-drive dual-guide rail inspection robot suitable for curved track operation according to claim 1, characterized in that: The mounting bracket (3) comprises: A first mounting rod (31) rotatably connected to the suspension bracket (2); A connecting shaft (32) is arranged on the first mounting rod (31) and connected to the limiting elastic member (5); The second mounting rod (33) has one end rotatably connected to the connecting shaft (32) and the other end rotatably connected to the driving assembly (4).

5. The single-drive dual-guide rail-hanging inspection robot suitable for curved track operation according to claim 1, characterized in that: The suspension bracket (2) comprises: Suspension plate (21); A first connecting rod (24) is arranged on the suspension plate (21), one end of the driving assembly (4) is rotatably connected to the first connecting rod (24), and the other end is rotatably connected to the mounting bracket (3); The second connecting rod (25) is arranged on the suspension plate (21) and is arranged opposite to the first connecting rod (24). The second connecting rod (25) is rotatably connected to the mounting bracket (3).

6. The single-drive dual-guide rail-hanging inspection robot suitable for curved track operation according to claim 1, characterized in that: The driving assembly (4) comprises: A driving bracket, one end of which is rotatably connected to the suspension bracket (2), and the other end of which is rotatably connected to the mounting bracket (3); A driving member (41), arranged on the driving bracket; A driving wheel (42) is rotatably connected to the driving bracket and connected to the output end of the driving member (41); the driving wheel (42) abuts against the track (7).

7. The single-drive dual-guide rail-hanging inspection robot suitable for curved track operation according to claim 6, characterized in that: The driving bracket comprises: A first mounting plate (43), the driving member (41) being fixed to the first mounting plate (43); The second mounting plate (44) is arranged opposite to the first mounting plate (43), and the driving wheel (42) is rotatably connected between the first mounting plate (43) and the second mounting plate (44).

8. The single-drive dual-guide rail-hanging inspection robot suitable for curved track operation according to any one of claims 1 to 7, characterized in that: A plurality of the limiting elastic members (5) are distributed at intervals.

9. The single-drive dual-guide rail-hanging inspection robot suitable for curved track operation according to any one of claims 1 to 7, characterized in that: Also includes: An encoder (8) is arranged on one of the guide components (6).

10. The single-drive dual-guide rail-hanging inspection robot suitable for curved track operation according to claim 1, characterized in that: The guide assembly (6) comprises: The guide frame is rotatably connected to the base (1), and a plurality of side rollers (61) and upper rollers (62) are rotatably connected to the guide frame. Both the side rollers (61) and the upper rollers (62) can be slidably matched with the track (7).

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